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<div class="title">src/ArduinoAVR/Repetier/Printer.h</div>  </div>
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<a href="_printer_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">    This file is part of Repetier-Firmware.</span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">    Repetier-Firmware is free software: you can redistribute it and/or modify</span>
<a name="l00005"></a>00005 <span class="comment">    it under the terms of the GNU General Public License as published by</span>
<a name="l00006"></a>00006 <span class="comment">    the Free Software Foundation, either version 3 of the License, or</span>
<a name="l00007"></a>00007 <span class="comment">    (at your option) any later version.</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment">    Repetier-Firmware is distributed in the hope that it will be useful,</span>
<a name="l00010"></a>00010 <span class="comment">    but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00011"></a>00011 <span class="comment">    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00012"></a>00012 <span class="comment">    GNU General Public License for more details.</span>
<a name="l00013"></a>00013 <span class="comment"></span>
<a name="l00014"></a>00014 <span class="comment">    You should have received a copy of the GNU General Public License</span>
<a name="l00015"></a>00015 <span class="comment">    along with Repetier-Firmware.  If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00016"></a>00016 <span class="comment"></span>
<a name="l00017"></a>00017 <span class="comment">    This firmware is a nearly complete rewrite of the sprinter firmware</span>
<a name="l00018"></a>00018 <span class="comment">    by kliment (https://github.com/kliment/Sprinter)</span>
<a name="l00019"></a>00019 <span class="comment">    which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.</span>
<a name="l00020"></a>00020 <span class="comment">*/</span>
<a name="l00021"></a>00021 
<a name="l00022"></a>00022 <span class="preprocessor">#ifndef PRINTER_H_INCLUDED</span>
<a name="l00023"></a>00023 <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_H_INCLUDED</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span>
<a name="l00025"></a>00025 
<a name="l00026"></a><a class="code" href="_printer_8h.html#aaf9db7920a06fd2aee7c0d998f57ad13">00026</a> <span class="preprocessor">#define PRINTER_FLAG0_STEPPER_DISABLED      1</span>
<a name="l00027"></a><a class="code" href="_printer_8h.html#a98e83cc526c878b5a72f4e15b02fdc4f">00027</a> <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_FLAG0_SEPERATE_EXTRUDER_INT 2</span>
<a name="l00028"></a><a class="code" href="_printer_8h.html#a997434dd4b57854ab5fd30e5087163a5">00028</a> <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_FLAG0_TEMPSENSOR_DEFECT     4</span>
<a name="l00029"></a><a class="code" href="_printer_8h.html#a9016ccfe105ca332d60a63fc73596272">00029</a> <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_FLAG0_FORCE_CHECKSUM        8</span>
<a name="l00030"></a><a class="code" href="_printer_8h.html#aa7af93e40fdf088ff7407e50055e9d8e">00030</a> <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_FLAG0_MANUAL_MOVE_MODE      16</span>
<a name="l00031"></a><a class="code" href="_printer_8h.html#ac75eab0f38bb0d214192d7613f6ab9e9">00031</a> <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_FLAG0_AUTOLEVEL_ACTIVE      32</span>
<a name="l00032"></a><a class="code" href="_printer_8h.html#a427c84f7714ca570064e22a3d65a2317">00032</a> <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_FLAG0_ZPROBEING             64</span>
<a name="l00033"></a><a class="code" href="_printer_8h.html#a8ba29eacd94057587a9c6bffd1c37fc0">00033</a> <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_FLAG0_LARGE_MACHINE         128</span>
<a name="l00034"></a><a class="code" href="_printer_8h.html#a6b2582a3064afaacce9867ac9ca77c33">00034</a> <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_FLAG1_HOMED                 1</span>
<a name="l00035"></a><a class="code" href="_printer_8h.html#a5a1b892d6d55ecbe4f5c7b76e4934dc9">00035</a> <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_FLAG1_AUTOMOUNT             2</span>
<a name="l00036"></a><a class="code" href="_printer_8h.html#a5214ca5012b4aa37257eec722867d009">00036</a> <span class="preprocessor"></span><span class="preprocessor">#define PRINTER_FLAG1_ANIMATION             4</span>
<a name="l00037"></a><a class="code" href="class_printer.html">00037</a> <span class="preprocessor"></span><span class="keyword">class </span><a class="code" href="class_printer.html">Printer</a>
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">public</span>:
<a name="l00040"></a>00040 <span class="preprocessor">#if defined(USE_ADVANCE)</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keyword">volatile</span> <span class="keywordtype">int</span> extruderStepsNeeded; 
<a name="l00042"></a>00042     <span class="keyword">static</span> uint8_t minExtruderSpeed;            
<a name="l00043"></a>00043     <span class="keyword">static</span> uint8_t maxExtruderSpeed;            
<a name="l00044"></a>00044     <span class="comment">//static uint8_t extruderAccelerateDelay;     ///&lt; delay between 2 speec increases</span>
<a name="l00045"></a>00045     <span class="keyword">static</span> <span class="keywordtype">int</span> advanceStepsSet;
<a name="l00046"></a>00046 <span class="preprocessor">#ifdef ENABLE_QUADRATIC_ADVANCE</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">long</span> advanceExecuted;             
<a name="l00048"></a>00048 <span class="preprocessor">#endif</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00050"></a><a class="code" href="class_printer.html#a61fbfbf83649dfc8b0f93c4c252ece43">00050</a> <span class="preprocessor"></span>    <span class="keyword">static</span> uint8_t <a class="code" href="class_printer.html#a61fbfbf83649dfc8b0f93c4c252ece43">menuMode</a>;
<a name="l00051"></a><a class="code" href="class_printer.html#a8de3f60d4e086c1d183642273ed91b34">00051</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a8de3f60d4e086c1d183642273ed91b34" title="Number of steps per mm needed.">axisStepsPerMM</a>[];
<a name="l00052"></a><a class="code" href="class_printer.html#a93ee566df92633a5898fd2d82cfd0030">00052</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a93ee566df92633a5898fd2d82cfd0030" title="Inverse of axisStepsPerMM for faster conversion.">invAxisStepsPerMM</a>[];
<a name="l00053"></a><a class="code" href="class_printer.html#acb48d9785be312c0b146739f80211733">00053</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#acb48d9785be312c0b146739f80211733" title="Maximum allowed feedrate.">maxFeedrate</a>[];
<a name="l00054"></a><a class="code" href="class_printer.html#ad4fae9973a0ca44376d9df8aaaf9c809">00054</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#ad4fae9973a0ca44376d9df8aaaf9c809">homingFeedrate</a>[];
<a name="l00055"></a><a class="code" href="class_printer.html#a036a4d45f682334d143cc5f9e2a4446b">00055</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a036a4d45f682334d143cc5f9e2a4446b" title="X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts.">maxAccelerationMMPerSquareSecond</a>[];
<a name="l00056"></a><a class="code" href="class_printer.html#ae9fd3c877ff732355b1a6c607e77b88a">00056</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#ae9fd3c877ff732355b1a6c607e77b88a" title="X, Y, Z max acceleration in mm/s^2 for travel moves.">maxTravelAccelerationMMPerSquareSecond</a>[];
<a name="l00057"></a><a class="code" href="class_printer.html#abbbe414dda097d01df09181aea10d281">00057</a>     <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#abbbe414dda097d01df09181aea10d281">maxPrintAccelerationStepsPerSquareSecond</a>[];
<a name="l00058"></a><a class="code" href="class_printer.html#ad7a22757f110c087ce32ffa4d42365c2">00058</a>     <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#ad7a22757f110c087ce32ffa4d42365c2">maxTravelAccelerationStepsPerSquareSecond</a>[];
<a name="l00059"></a><a class="code" href="class_printer.html#a7d20c285c913e65a7e78d355b1f4eb5d">00059</a>     <span class="keyword">static</span> uint8_t <a class="code" href="class_printer.html#a7d20c285c913e65a7e78d355b1f4eb5d" title="Determines absolute (false) or relative Coordinates (true).">relativeCoordinateMode</a>;    
<a name="l00060"></a><a class="code" href="class_printer.html#a8656d0ca4ed9ebe9615baf2d24f6410e">00060</a>     <span class="keyword">static</span> uint8_t <a class="code" href="class_printer.html#a8656d0ca4ed9ebe9615baf2d24f6410e" title="Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in R...">relativeExtruderCoordinateMode</a>;  
<a name="l00061"></a>00061 
<a name="l00062"></a><a class="code" href="class_printer.html#a8bcdf21c7e047a91e714b6557ce9f524">00062</a>     <span class="keyword">static</span> uint8_t <a class="code" href="class_printer.html#a8bcdf21c7e047a91e714b6557ce9f524" title="0 = Units are mm, 1 = units are inches.">unitIsInches</a>;
<a name="l00063"></a>00063 
<a name="l00064"></a><a class="code" href="class_printer.html#ad1c9c7aa8f3cb58a5ef14847e0cbf0a8">00064</a>     <span class="keyword">static</span> uint8_t <a class="code" href="class_printer.html#ad1c9c7aa8f3cb58a5ef14847e0cbf0a8" title="Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication...">debugLevel</a>;
<a name="l00065"></a><a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">00065</a>     <span class="keyword">static</span> uint8_t <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a>,<a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a>; <span class="comment">// 1 = stepper disabled, 2 = use external extruder interrupt, 4 = temp Sensor defect, 8 = homed</span>
<a name="l00066"></a><a class="code" href="class_printer.html#a3f224449d326a0b4a4d844ad9b3e5f59">00066</a>     <span class="keyword">static</span> uint8_t <a class="code" href="class_printer.html#a3f224449d326a0b4a4d844ad9b3e5f59">stepsPerTimerCall</a>;
<a name="l00067"></a><a class="code" href="class_printer.html#aaaceac04637cd33a7f3fffdd1711e6c5">00067</a>     <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#aaaceac04637cd33a7f3fffdd1711e6c5" title="Last step duration in ticks.">interval</a>;    
<a name="l00068"></a><a class="code" href="class_printer.html#a61d9ef65d75b66821896182b133b31de">00068</a>     <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#a61d9ef65d75b66821896182b133b31de" title="used for acceleration/deceleration timing">timer</a>;              
<a name="l00069"></a><a class="code" href="class_printer.html#a648a9d8aa6e009ed42e31edcf5b2944e">00069</a>     <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#a648a9d8aa6e009ed42e31edcf5b2944e" title="Step number in current move.">stepNumber</a>;         
<a name="l00070"></a><a class="code" href="class_printer.html#aedd77212b918b1389207e6d80cf750ae">00070</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#aedd77212b918b1389207e6d80cf750ae">coordinateOffset</a>[3];
<a name="l00071"></a><a class="code" href="class_printer.html#a80e50f284dd17be902eec6cddf22a1f1">00071</a>     <span class="keyword">static</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#a80e50f284dd17be902eec6cddf22a1f1" title="Position in steps from origin.">currentPositionSteps</a>[4];     
<a name="l00072"></a><a class="code" href="class_printer.html#a0fb674215066a777158e952541718871">00072</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a0fb674215066a777158e952541718871">currentPosition</a>[3];
<a name="l00073"></a><a class="code" href="class_printer.html#a338c38ca0656b5adab9cd5dde0706afb">00073</a>     <span class="keyword">static</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#a338c38ca0656b5adab9cd5dde0706afb" title="Target position in steps.">destinationSteps</a>[4];         
<a name="l00074"></a>00074 <span class="preprocessor">#if NONLINEAR_SYSTEM</span>
<a name="l00075"></a>00075 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">long</span> currentDeltaPositionSteps[4];
<a name="l00076"></a>00076     <span class="keyword">static</span> <span class="keywordtype">long</span> maxDeltaPositionSteps;
<a name="l00077"></a>00077     <span class="keyword">static</span> <span class="keywordtype">long</span> deltaDiagonalStepsSquared;
<a name="l00078"></a>00078     <span class="keyword">static</span> <span class="keywordtype">float</span> deltaDiagonalStepsSquaredF;
<a name="l00079"></a>00079     <span class="keyword">static</span> <span class="keywordtype">long</span> deltaAPosXSteps;
<a name="l00080"></a>00080     <span class="keyword">static</span> <span class="keywordtype">long</span> deltaAPosYSteps;
<a name="l00081"></a>00081     <span class="keyword">static</span> <span class="keywordtype">long</span> deltaBPosXSteps;
<a name="l00082"></a>00082     <span class="keyword">static</span> <span class="keywordtype">long</span> deltaBPosYSteps;
<a name="l00083"></a>00083     <span class="keyword">static</span> <span class="keywordtype">long</span> deltaCPosXSteps;
<a name="l00084"></a>00084     <span class="keyword">static</span> <span class="keywordtype">long</span> deltaCPosYSteps;
<a name="l00085"></a>00085 <span class="preprocessor">#endif</span>
<a name="l00086"></a>00086 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_Z_PROBE || MAX_HARDWARE_ENDSTOP_Z || DRIVE_SYSTEM==3</span>
<a name="l00087"></a>00087 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">long</span> stepsRemainingAtZHit;
<a name="l00088"></a>00088 <span class="preprocessor">#endif</span>
<a name="l00089"></a>00089 <span class="preprocessor"></span><span class="preprocessor">#if DRIVE_SYSTEM==3</span>
<a name="l00090"></a>00090 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">long</span> stepsRemainingAtXHit;
<a name="l00091"></a>00091     <span class="keyword">static</span> <span class="keywordtype">long</span> stepsRemainingAtYHit;
<a name="l00092"></a>00092 <span class="preprocessor">#endif</span>
<a name="l00093"></a>00093 <span class="preprocessor"></span><span class="preprocessor">#ifdef SOFTWARE_LEVELING</span>
<a name="l00094"></a>00094 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">long</span> levelingP1[3];
<a name="l00095"></a>00095     <span class="keyword">static</span> <span class="keywordtype">long</span> levelingP2[3];
<a name="l00096"></a>00096     <span class="keyword">static</span> <span class="keywordtype">long</span> levelingP3[3];
<a name="l00097"></a>00097 <span class="preprocessor">#endif</span>
<a name="l00098"></a>00098 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_AUTOLEVEL</span>
<a name="l00099"></a>00099 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">float</span> autolevelTransformation[9]; 
<a name="l00100"></a>00100 <span class="preprocessor">#endif</span>
<a name="l00101"></a><a class="code" href="class_printer.html#af27cdb00f5c21519bdeed1b377210a5e">00101</a> <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#af27cdb00f5c21519bdeed1b377210a5e" title="lowest allowed speed to keep integration error small">minimumSpeed</a>;               
<a name="l00102"></a><a class="code" href="class_printer.html#a49d87c0d14601d2ac89e68920ae3ec6f">00102</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a49d87c0d14601d2ac89e68920ae3ec6f" title="lowest allowed speed to keep integration error small">minimumZSpeed</a>;              
<a name="l00103"></a><a class="code" href="class_printer.html#a5ff793413a2ef0e7a1c4fe85981472a6">00103</a>     <span class="keyword">static</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#a5ff793413a2ef0e7a1c4fe85981472a6" title="For software endstops, limit of move in positive direction.">xMaxSteps</a>;                   
<a name="l00104"></a><a class="code" href="class_printer.html#abdb65398ebaa275d4376d1a13e981929">00104</a>     <span class="keyword">static</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#abdb65398ebaa275d4376d1a13e981929" title="For software endstops, limit of move in positive direction.">yMaxSteps</a>;                   
<a name="l00105"></a><a class="code" href="class_printer.html#ae0c88e0ff9a23bbf829ae0ebc41a3c21">00105</a>     <span class="keyword">static</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#ae0c88e0ff9a23bbf829ae0ebc41a3c21" title="For software endstops, limit of move in positive direction.">zMaxSteps</a>;                   
<a name="l00106"></a><a class="code" href="class_printer.html#a48df26cc0d66cbfc16589604368a9270">00106</a>     <span class="keyword">static</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#a48df26cc0d66cbfc16589604368a9270" title="For software endstops, limit of move in negative direction.">xMinSteps</a>;                   
<a name="l00107"></a><a class="code" href="class_printer.html#ada0ba597f36fbe3c867211b56fabd944">00107</a>     <span class="keyword">static</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#ada0ba597f36fbe3c867211b56fabd944" title="For software endstops, limit of move in negative direction.">yMinSteps</a>;                   
<a name="l00108"></a><a class="code" href="class_printer.html#a6822d8f508fea08a05d92f924276bfb8">00108</a>     <span class="keyword">static</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#a6822d8f508fea08a05d92f924276bfb8" title="For software endstops, limit of move in negative direction.">zMinSteps</a>;                   
<a name="l00109"></a><a class="code" href="class_printer.html#a6a26574ccf3990235a7a21972142f735">00109</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a6a26574ccf3990235a7a21972142f735">xLength</a>;
<a name="l00110"></a><a class="code" href="class_printer.html#a9cf047d9f3db57d98e170f35f3b0f83e">00110</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a9cf047d9f3db57d98e170f35f3b0f83e">xMin</a>;
<a name="l00111"></a><a class="code" href="class_printer.html#a5645cb832e75138c0d44185d5cc9908d">00111</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a5645cb832e75138c0d44185d5cc9908d">yLength</a>;
<a name="l00112"></a><a class="code" href="class_printer.html#af7e3b65b9cf79254fcbd73c0fe6c9199">00112</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#af7e3b65b9cf79254fcbd73c0fe6c9199">yMin</a>;
<a name="l00113"></a><a class="code" href="class_printer.html#a4e94119fbb1cf63a2739eab58e7a3a6d">00113</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a4e94119fbb1cf63a2739eab58e7a3a6d">zLength</a>;
<a name="l00114"></a><a class="code" href="class_printer.html#ad0b8e955aef342f40e10cb782ae0b956">00114</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#ad0b8e955aef342f40e10cb782ae0b956">zMin</a>;
<a name="l00115"></a><a class="code" href="class_printer.html#a9f39a8d208c6033453098cb81815969c">00115</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a9f39a8d208c6033453098cb81815969c" title="Last requested feedrate.">feedrate</a>;                   
<a name="l00116"></a><a class="code" href="class_printer.html#aefceccb06440fa2e0127ffd1b1239c8c">00116</a>     <span class="keyword">static</span> <span class="keywordtype">int</span> <a class="code" href="class_printer.html#aefceccb06440fa2e0127ffd1b1239c8c" title="Multiplier for feedrate in percent (factor 1 = 100)">feedrateMultiply</a>;             
<a name="l00117"></a><a class="code" href="class_printer.html#a719e71e8b022e5eb78aea9f2d74c948b">00117</a>     <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_printer.html#a719e71e8b022e5eb78aea9f2d74c948b" title="Flow multiplier in percdent (factor 1 = 100)">extrudeMultiply</a>;     
<a name="l00118"></a><a class="code" href="class_printer.html#a765e97f98514dc7eea60e5e816fbb082">00118</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a765e97f98514dc7eea60e5e816fbb082" title="Maximum allowed jerk in mm/s.">maxJerk</a>;                    
<a name="l00119"></a>00119 <span class="preprocessor">#if DRIVE_SYSTEM!=3</span>
<a name="l00120"></a><a class="code" href="class_printer.html#afdfc505c2d989a656447d4551aba032a">00120</a> <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#afdfc505c2d989a656447d4551aba032a" title="Maximum allowed jerk in z direction in mm/s.">maxZJerk</a>;                   
<a name="l00121"></a>00121 <span class="preprocessor">#endif</span>
<a name="l00122"></a><a class="code" href="class_printer.html#a40e27a95878bc0a443bac4815628f3e2">00122</a> <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a40e27a95878bc0a443bac4815628f3e2" title="X-offset for different extruder positions.">offsetX</a>;                     
<a name="l00123"></a><a class="code" href="class_printer.html#a577cbd3610eed001754028f74db1dd02">00123</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a577cbd3610eed001754028f74db1dd02" title="Y-offset for different extruder positions.">offsetY</a>;                     
<a name="l00124"></a><a class="code" href="class_printer.html#a56585d7b8450bcd601bcbe3babbcfe8b">00124</a>     <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_printer.html#a56585d7b8450bcd601bcbe3babbcfe8b" title="Maximumu reached speed.">vMaxReached</a>;         
<a name="l00125"></a><a class="code" href="class_printer.html#a8c5c1e5d439a5048bc621804576d1888">00125</a>     <span class="keyword">static</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_printer.html#a8c5c1e5d439a5048bc621804576d1888" title="Milliseconds of printing time (means time with heated extruder)">msecondsPrinting</a>;            
<a name="l00126"></a><a class="code" href="class_printer.html#a9742821453127d357fa96dc4f9619863">00126</a>     <span class="keyword">static</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a9742821453127d357fa96dc4f9619863" title="mm of filament printed since counting started">filamentPrinted</a>;            
<a name="l00127"></a><a class="code" href="class_printer.html#af191bd268b7986272af0113ef3dca085">00127</a>     <span class="keyword">static</span> uint8_t <a class="code" href="class_printer.html#af191bd268b7986272af0113ef3dca085" title="Indicates if last move had halfstepping enabled.">wasLastHalfstepping</a>;         
<a name="l00128"></a>00128 <span class="preprocessor">#if ENABLE_BACKLASH_COMPENSATION</span>
<a name="l00129"></a>00129 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">float</span> backlashX;
<a name="l00130"></a>00130     <span class="keyword">static</span> <span class="keywordtype">float</span> backlashY;
<a name="l00131"></a>00131     <span class="keyword">static</span> <span class="keywordtype">float</span> backlashZ;
<a name="l00132"></a>00132     <span class="keyword">static</span> uint8_t backlashDir;
<a name="l00133"></a>00133 <span class="preprocessor">#endif</span>
<a name="l00134"></a>00134 <span class="preprocessor"></span><span class="preprocessor">#ifdef DEBUG_STEPCOUNT</span>
<a name="l00135"></a>00135 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">long</span> totalStepsRemaining;
<a name="l00136"></a>00136 <span class="preprocessor">#endif</span>
<a name="l00137"></a>00137 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_MEMORY_POSITION</span>
<a name="l00138"></a>00138 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">long</span> memoryX;
<a name="l00139"></a>00139     <span class="keyword">static</span> <span class="keywordtype">long</span> memoryY;
<a name="l00140"></a>00140     <span class="keyword">static</span> <span class="keywordtype">long</span> memoryZ;
<a name="l00141"></a>00141     <span class="keyword">static</span> <span class="keywordtype">long</span> memoryE;
<a name="l00142"></a>00142 <span class="preprocessor">#endif</span>
<a name="l00143"></a>00143 <span class="preprocessor"></span><span class="preprocessor">#ifdef XY_GANTRY</span>
<a name="l00144"></a>00144 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">char</span> motorX;
<a name="l00145"></a>00145     <span class="keyword">static</span> <span class="keywordtype">char</span> motorY;
<a name="l00146"></a>00146 <span class="preprocessor">#endif</span>
<a name="l00147"></a><a class="code" href="class_printer.html#a81715686c92a3056ad8f803655f53559">00147</a> <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a81715686c92a3056ad8f803655f53559">setMenuMode</a>(uint8_t mode,<span class="keywordtype">bool</span> on) {
<a name="l00148"></a>00148         <span class="keywordflow">if</span>(on)
<a name="l00149"></a>00149             <a class="code" href="class_printer.html#a61fbfbf83649dfc8b0f93c4c252ece43">menuMode</a> |= mode;
<a name="l00150"></a>00150         <span class="keywordflow">else</span>
<a name="l00151"></a>00151             <a class="code" href="class_printer.html#a61fbfbf83649dfc8b0f93c4c252ece43">menuMode</a> &amp;= ~mode;
<a name="l00152"></a>00152     }
<a name="l00153"></a><a class="code" href="class_printer.html#a9e289f1ac44f532ec7e2e894abb3f13f">00153</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a9e289f1ac44f532ec7e2e894abb3f13f">debugEcho</a>()
<a name="l00154"></a>00154     {
<a name="l00155"></a>00155         <span class="keywordflow">return</span> ((<a class="code" href="class_printer.html#ad1c9c7aa8f3cb58a5ef14847e0cbf0a8" title="Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication...">debugLevel</a> &amp; 1)!=0);
<a name="l00156"></a>00156     }
<a name="l00157"></a><a class="code" href="class_printer.html#a8e15d0a6a19c4d5fa5fae00c44ee22aa">00157</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a8e15d0a6a19c4d5fa5fae00c44ee22aa">debugInfo</a>()
<a name="l00158"></a>00158     {
<a name="l00159"></a>00159         <span class="keywordflow">return</span> ((<a class="code" href="class_printer.html#ad1c9c7aa8f3cb58a5ef14847e0cbf0a8" title="Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication...">debugLevel</a> &amp; 2)!=0);
<a name="l00160"></a>00160     }
<a name="l00161"></a><a class="code" href="class_printer.html#a5b6ad693de4dc66526db68f1c85840f6">00161</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a5b6ad693de4dc66526db68f1c85840f6">debugErrors</a>()
<a name="l00162"></a>00162     {
<a name="l00163"></a>00163         <span class="keywordflow">return</span> ((<a class="code" href="class_printer.html#ad1c9c7aa8f3cb58a5ef14847e0cbf0a8" title="Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication...">debugLevel</a> &amp; 4)!=0);
<a name="l00164"></a>00164     }
<a name="l00165"></a><a class="code" href="class_printer.html#aa1faedc42e6f70d581be7f34b0135d7e">00165</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#aa1faedc42e6f70d581be7f34b0135d7e">debugDryrun</a>()
<a name="l00166"></a>00166     {
<a name="l00167"></a>00167         <span class="keywordflow">return</span> ((<a class="code" href="class_printer.html#ad1c9c7aa8f3cb58a5ef14847e0cbf0a8" title="Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication...">debugLevel</a> &amp; 8)!=0);
<a name="l00168"></a>00168     }
<a name="l00169"></a><a class="code" href="class_printer.html#a115dc7a3247831848fa3f3b2bbc1c7a5">00169</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a115dc7a3247831848fa3f3b2bbc1c7a5">debugCommunication</a>()
<a name="l00170"></a>00170     {
<a name="l00171"></a>00171         <span class="keywordflow">return</span> ((<a class="code" href="class_printer.html#ad1c9c7aa8f3cb58a5ef14847e0cbf0a8" title="Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication...">debugLevel</a> &amp; 16)!=0);
<a name="l00172"></a>00172     }
<a name="l00173"></a><a class="code" href="class_printer.html#a46c7584a9fd0689bd09d857bea74e9be">00173</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a46c7584a9fd0689bd09d857bea74e9be">debugNoMoves</a>() {
<a name="l00174"></a>00174         <span class="keywordflow">return</span> ((<a class="code" href="class_printer.html#ad1c9c7aa8f3cb58a5ef14847e0cbf0a8" title="Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication...">debugLevel</a> &amp; 32)!=0);
<a name="l00175"></a>00175     }
<a name="l00176"></a>00176 
<a name="l00178"></a><a class="code" href="class_printer.html#a0c894b2943ab264a0fad5fe79ac3d4cc">00178</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a0c894b2943ab264a0fad5fe79ac3d4cc" title="Disable stepper motor for x direction.">disableXStepper</a>()
<a name="l00179"></a>00179     {
<a name="l00180"></a>00180 <span class="preprocessor">#if (X_ENABLE_PIN &gt; -1)</span>
<a name="l00181"></a>00181 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#adccee7e1e7d60b08b2d18fad5387df25">X_ENABLE_PIN</a>,!<a class="code" href="_configuration_8h.html#a7afdf61cfd5a42d565ac71759dc05974">X_ENABLE_ON</a>);
<a name="l00182"></a>00182 <span class="preprocessor">#endif</span>
<a name="l00183"></a>00183 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_TWO_XSTEPPER &amp;&amp; (X2_ENABLE_PIN &gt; -1)</span>
<a name="l00184"></a>00184 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#ad293afc97a434a46e73cdffde9085c69">X2_ENABLE_PIN</a>,!<a class="code" href="_configuration_8h.html#a7afdf61cfd5a42d565ac71759dc05974">X_ENABLE_ON</a>);
<a name="l00185"></a>00185 <span class="preprocessor">#endif</span>
<a name="l00186"></a>00186 <span class="preprocessor"></span>    }
<a name="l00188"></a><a class="code" href="class_printer.html#a7e25160c0740cb337c18c6f78309f122">00188</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a7e25160c0740cb337c18c6f78309f122" title="Disable stepper motor for y direction.">disableYStepper</a>()
<a name="l00189"></a>00189     {
<a name="l00190"></a>00190 <span class="preprocessor">#if (Y_ENABLE_PIN &gt; -1)</span>
<a name="l00191"></a>00191 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a78560c0173e13b5de2134bdfcc6f6c16">Y_ENABLE_PIN</a>,!<a class="code" href="_configuration_8h.html#acc0bb5bd702433e1d38a31f6584ed821">Y_ENABLE_ON</a>);
<a name="l00192"></a>00192 <span class="preprocessor">#endif</span>
<a name="l00193"></a>00193 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_TWO_YSTEPPER &amp;&amp; (Y2_ENABLE_PIN &gt; -1)</span>
<a name="l00194"></a>00194 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a24a774ef39e666b4cfc4e2507876adde">Y2_ENABLE_PIN</a>,!<a class="code" href="_configuration_8h.html#acc0bb5bd702433e1d38a31f6584ed821">Y_ENABLE_ON</a>);
<a name="l00195"></a>00195 <span class="preprocessor">#endif</span>
<a name="l00196"></a>00196 <span class="preprocessor"></span>    }
<a name="l00198"></a><a class="code" href="class_printer.html#aafcdb7785ca3599cdc69d70ea69fb51c">00198</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#aafcdb7785ca3599cdc69d70ea69fb51c" title="Disable stepper motor for z direction.">disableZStepper</a>()
<a name="l00199"></a>00199     {
<a name="l00200"></a>00200 <span class="preprocessor">#if (Z_ENABLE_PIN &gt; -1)</span>
<a name="l00201"></a>00201 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a6483b796b38eaf1efcb7b9348fdcc8e5">Z_ENABLE_PIN</a>,!<a class="code" href="_configuration_8h.html#a6ed17da670ae70c7666be298862e3c27">Z_ENABLE_ON</a>);
<a name="l00202"></a>00202 <span class="preprocessor">#endif</span>
<a name="l00203"></a>00203 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_TWO_ZSTEPPER &amp;&amp; (Z2_ENABLE_PIN &gt; -1)</span>
<a name="l00204"></a>00204 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#aa307cf262f6a195b77107a7ba0a47eb3">Z2_ENABLE_PIN</a>,!<a class="code" href="_configuration_8h.html#a6ed17da670ae70c7666be298862e3c27">Z_ENABLE_ON</a>);
<a name="l00205"></a>00205 <span class="preprocessor">#endif</span>
<a name="l00206"></a>00206 <span class="preprocessor"></span>    }
<a name="l00208"></a><a class="code" href="class_printer.html#a92a8bbd723bd96f7650c0a8953d5c686">00208</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span>  <a class="code" href="class_printer.html#a92a8bbd723bd96f7650c0a8953d5c686" title="Enable stepper motor for x direction.">enableXStepper</a>()
<a name="l00209"></a>00209     {
<a name="l00210"></a>00210 <span class="preprocessor">#if (X_ENABLE_PIN &gt; -1)</span>
<a name="l00211"></a>00211 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#adccee7e1e7d60b08b2d18fad5387df25">X_ENABLE_PIN</a>, <a class="code" href="_configuration_8h.html#a7afdf61cfd5a42d565ac71759dc05974">X_ENABLE_ON</a>);
<a name="l00212"></a>00212 <span class="preprocessor">#endif</span>
<a name="l00213"></a>00213 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_TWO_XSTEPPER &amp;&amp; (X2_ENABLE_PIN &gt; -1)</span>
<a name="l00214"></a>00214 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#ad293afc97a434a46e73cdffde9085c69">X2_ENABLE_PIN</a>,<a class="code" href="_configuration_8h.html#a7afdf61cfd5a42d565ac71759dc05974">X_ENABLE_ON</a>);
<a name="l00215"></a>00215 <span class="preprocessor">#endif</span>
<a name="l00216"></a>00216 <span class="preprocessor"></span>    }
<a name="l00218"></a><a class="code" href="class_printer.html#a252f2e6e13e333dc9c3f758781bb3bf0">00218</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span>  <a class="code" href="class_printer.html#a252f2e6e13e333dc9c3f758781bb3bf0" title="Enable stepper motor for y direction.">enableYStepper</a>()
<a name="l00219"></a>00219     {
<a name="l00220"></a>00220 <span class="preprocessor">#if (Y_ENABLE_PIN &gt; -1)</span>
<a name="l00221"></a>00221 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a78560c0173e13b5de2134bdfcc6f6c16">Y_ENABLE_PIN</a>, <a class="code" href="_configuration_8h.html#acc0bb5bd702433e1d38a31f6584ed821">Y_ENABLE_ON</a>);
<a name="l00222"></a>00222 <span class="preprocessor">#endif</span>
<a name="l00223"></a>00223 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_TWO_YSTEPPER &amp;&amp; (Y2_ENABLE_PIN &gt; -1)</span>
<a name="l00224"></a>00224 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a24a774ef39e666b4cfc4e2507876adde">Y2_ENABLE_PIN</a>,<a class="code" href="_configuration_8h.html#acc0bb5bd702433e1d38a31f6584ed821">Y_ENABLE_ON</a>);
<a name="l00225"></a>00225 <span class="preprocessor">#endif</span>
<a name="l00226"></a>00226 <span class="preprocessor"></span>    }
<a name="l00228"></a><a class="code" href="class_printer.html#acd91ead061517c1b46f2e0aae07478d6">00228</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span>  <a class="code" href="class_printer.html#acd91ead061517c1b46f2e0aae07478d6" title="Enable stepper motor for z direction.">enableZStepper</a>()
<a name="l00229"></a>00229     {
<a name="l00230"></a>00230 <span class="preprocessor">#if (Z_ENABLE_PIN &gt; -1)</span>
<a name="l00231"></a>00231 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a6483b796b38eaf1efcb7b9348fdcc8e5">Z_ENABLE_PIN</a>, <a class="code" href="_configuration_8h.html#a6ed17da670ae70c7666be298862e3c27">Z_ENABLE_ON</a>);
<a name="l00232"></a>00232 <span class="preprocessor">#endif</span>
<a name="l00233"></a>00233 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_TWO_ZSTEPPER &amp;&amp; (Z2_ENABLE_PIN &gt; -1)</span>
<a name="l00234"></a>00234 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#aa307cf262f6a195b77107a7ba0a47eb3">Z2_ENABLE_PIN</a>,<a class="code" href="_configuration_8h.html#a6ed17da670ae70c7666be298862e3c27">Z_ENABLE_ON</a>);
<a name="l00235"></a>00235 <span class="preprocessor">#endif</span>
<a name="l00236"></a>00236 <span class="preprocessor"></span>    }
<a name="l00237"></a><a class="code" href="class_printer.html#a09994dba99fdc69d92ddf864f854323a">00237</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a09994dba99fdc69d92ddf864f854323a">setXDirection</a>(<span class="keywordtype">bool</span> positive)
<a name="l00238"></a>00238     {
<a name="l00239"></a>00239         <span class="keywordflow">if</span>(positive)
<a name="l00240"></a>00240         {
<a name="l00241"></a>00241             <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a550987a19a802873845a5686134fb3e0">X_DIR_PIN</a>,!<a class="code" href="_configuration_8h.html#a178df9ff3acad1d612a5d194ccc148c1">INVERT_X_DIR</a>);
<a name="l00242"></a>00242 <span class="preprocessor">#if FEATURE_TWO_XSTEPPER</span>
<a name="l00243"></a>00243 <span class="preprocessor"></span>            <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a9aaa449ed510720ddbcdccbe76651226">X2_DIR_PIN</a>,!<a class="code" href="_configuration_8h.html#a178df9ff3acad1d612a5d194ccc148c1">INVERT_X_DIR</a>);
<a name="l00244"></a>00244 <span class="preprocessor">#endif</span>
<a name="l00245"></a>00245 <span class="preprocessor"></span>        }
<a name="l00246"></a>00246         <span class="keywordflow">else</span>
<a name="l00247"></a>00247         {
<a name="l00248"></a>00248             <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a550987a19a802873845a5686134fb3e0">X_DIR_PIN</a>,<a class="code" href="_configuration_8h.html#a178df9ff3acad1d612a5d194ccc148c1">INVERT_X_DIR</a>);
<a name="l00249"></a>00249 <span class="preprocessor">#if FEATURE_TWO_XSTEPPER</span>
<a name="l00250"></a>00250 <span class="preprocessor"></span>            <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a9aaa449ed510720ddbcdccbe76651226">X2_DIR_PIN</a>,<a class="code" href="_configuration_8h.html#a178df9ff3acad1d612a5d194ccc148c1">INVERT_X_DIR</a>);
<a name="l00251"></a>00251 <span class="preprocessor">#endif</span>
<a name="l00252"></a>00252 <span class="preprocessor"></span>        }
<a name="l00253"></a>00253     }
<a name="l00254"></a><a class="code" href="class_printer.html#abb96d836417d7287c1645486194aa028">00254</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#abb96d836417d7287c1645486194aa028">setYDirection</a>(<span class="keywordtype">bool</span> positive)
<a name="l00255"></a>00255     {
<a name="l00256"></a>00256         <span class="keywordflow">if</span>(positive)
<a name="l00257"></a>00257         {
<a name="l00258"></a>00258             <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a627c6a2d953f587bec3881dd9e0f9670">Y_DIR_PIN</a>,!<a class="code" href="_configuration_8h.html#a1b0a90f40d48a2f35f6265ba5ab7399c">INVERT_Y_DIR</a>);
<a name="l00259"></a>00259 <span class="preprocessor">#if FEATURE_TWO_YSTEPPER</span>
<a name="l00260"></a>00260 <span class="preprocessor"></span>            <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a966bcbb595b01ea1f47b44ee54561f17">Y2_DIR_PIN</a>,!<a class="code" href="_configuration_8h.html#a1b0a90f40d48a2f35f6265ba5ab7399c">INVERT_Y_DIR</a>);
<a name="l00261"></a>00261 <span class="preprocessor">#endif</span>
<a name="l00262"></a>00262 <span class="preprocessor"></span>        }
<a name="l00263"></a>00263         <span class="keywordflow">else</span>
<a name="l00264"></a>00264         {
<a name="l00265"></a>00265             <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a627c6a2d953f587bec3881dd9e0f9670">Y_DIR_PIN</a>,<a class="code" href="_configuration_8h.html#a1b0a90f40d48a2f35f6265ba5ab7399c">INVERT_Y_DIR</a>);
<a name="l00266"></a>00266 <span class="preprocessor">#if FEATURE_TWO_YSTEPPER</span>
<a name="l00267"></a>00267 <span class="preprocessor"></span>            <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a966bcbb595b01ea1f47b44ee54561f17">Y2_DIR_PIN</a>,<a class="code" href="_configuration_8h.html#a1b0a90f40d48a2f35f6265ba5ab7399c">INVERT_Y_DIR</a>);
<a name="l00268"></a>00268 <span class="preprocessor">#endif</span>
<a name="l00269"></a>00269 <span class="preprocessor"></span>        }
<a name="l00270"></a>00270     }
<a name="l00271"></a><a class="code" href="class_printer.html#a0d329cc119c7f0410bd95c9d1000e9e1">00271</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a0d329cc119c7f0410bd95c9d1000e9e1">setZDirection</a>(<span class="keywordtype">bool</span> positive)
<a name="l00272"></a>00272     {
<a name="l00273"></a>00273         <span class="keywordflow">if</span>(positive)
<a name="l00274"></a>00274         {
<a name="l00275"></a>00275             <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a2a05d4e873384a0b78499d5c1323f1c4">Z_DIR_PIN</a>,!<a class="code" href="_configuration_8h.html#ace7e04e0e8a6994bcfb576d34ba54a8f">INVERT_Z_DIR</a>);
<a name="l00276"></a>00276 <span class="preprocessor">#if FEATURE_TWO_ZSTEPPER</span>
<a name="l00277"></a>00277 <span class="preprocessor"></span>            <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a178ffc50f37d780f6c7e2f41065259b3">Z2_DIR_PIN</a>,!<a class="code" href="_configuration_8h.html#ace7e04e0e8a6994bcfb576d34ba54a8f">INVERT_Z_DIR</a>);
<a name="l00278"></a>00278 <span class="preprocessor">#endif</span>
<a name="l00279"></a>00279 <span class="preprocessor"></span>        }
<a name="l00280"></a>00280         <span class="keywordflow">else</span>
<a name="l00281"></a>00281         {
<a name="l00282"></a>00282             <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a2a05d4e873384a0b78499d5c1323f1c4">Z_DIR_PIN</a>,<a class="code" href="_configuration_8h.html#ace7e04e0e8a6994bcfb576d34ba54a8f">INVERT_Z_DIR</a>);
<a name="l00283"></a>00283 <span class="preprocessor">#if FEATURE_TWO_ZSTEPPER</span>
<a name="l00284"></a>00284 <span class="preprocessor"></span>            <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a178ffc50f37d780f6c7e2f41065259b3">Z2_DIR_PIN</a>,<a class="code" href="_configuration_8h.html#ace7e04e0e8a6994bcfb576d34ba54a8f">INVERT_Z_DIR</a>);
<a name="l00285"></a>00285 <span class="preprocessor">#endif</span>
<a name="l00286"></a>00286 <span class="preprocessor"></span>        }
<a name="l00287"></a>00287     }
<a name="l00288"></a><a class="code" href="class_printer.html#a363a25b5a571d34b3310c67181e9328b">00288</a>     <span class="keyword">static</span> <span class="keyword">inline</span> uint8_t <a class="code" href="class_printer.html#a363a25b5a571d34b3310c67181e9328b">isLargeMachine</a>()
<a name="l00289"></a>00289     {
<a name="l00290"></a>00290         <span class="keywordflow">return</span> <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; <a class="code" href="_printer_8h.html#a8ba29eacd94057587a9c6bffd1c37fc0">PRINTER_FLAG0_LARGE_MACHINE</a>;
<a name="l00291"></a>00291     }
<a name="l00292"></a><a class="code" href="class_printer.html#a47705ff49cf44f1122fc6a526dcd006c">00292</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a47705ff49cf44f1122fc6a526dcd006c">setLargeMachine</a>(uint8_t b)
<a name="l00293"></a>00293     {
<a name="l00294"></a>00294         <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> = (b ? <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> | <a class="code" href="_printer_8h.html#a8ba29eacd94057587a9c6bffd1c37fc0">PRINTER_FLAG0_LARGE_MACHINE</a> : <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; ~<a class="code" href="_printer_8h.html#a8ba29eacd94057587a9c6bffd1c37fc0">PRINTER_FLAG0_LARGE_MACHINE</a>);
<a name="l00295"></a>00295     }
<a name="l00296"></a><a class="code" href="class_printer.html#aba3ee90af08480efce19332e6820b7bc">00296</a>     <span class="keyword">static</span> <span class="keyword">inline</span> uint8_t <a class="code" href="class_printer.html#aba3ee90af08480efce19332e6820b7bc">isAdvanceActivated</a>()
<a name="l00297"></a>00297     {
<a name="l00298"></a>00298         <span class="keywordflow">return</span> <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; <a class="code" href="_printer_8h.html#a98e83cc526c878b5a72f4e15b02fdc4f">PRINTER_FLAG0_SEPERATE_EXTRUDER_INT</a>;
<a name="l00299"></a>00299     }
<a name="l00300"></a><a class="code" href="class_printer.html#a209eaa4f582bb8d44eaaef88db0fbc1c">00300</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a209eaa4f582bb8d44eaaef88db0fbc1c">setAdvanceActivated</a>(uint8_t b)
<a name="l00301"></a>00301     {
<a name="l00302"></a>00302         <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> = (b ? <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> | <a class="code" href="_printer_8h.html#a98e83cc526c878b5a72f4e15b02fdc4f">PRINTER_FLAG0_SEPERATE_EXTRUDER_INT</a> : <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; ~<a class="code" href="_printer_8h.html#a98e83cc526c878b5a72f4e15b02fdc4f">PRINTER_FLAG0_SEPERATE_EXTRUDER_INT</a>);
<a name="l00303"></a>00303     }
<a name="l00304"></a><a class="code" href="class_printer.html#a3b9cbdc44b5524b70bcb4698676337d9">00304</a>     <span class="keyword">static</span> <span class="keyword">inline</span> uint8_t <a class="code" href="class_printer.html#a3b9cbdc44b5524b70bcb4698676337d9">isHomed</a>()
<a name="l00305"></a>00305     {
<a name="l00306"></a>00306         <span class="keywordflow">return</span> <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> &amp; <a class="code" href="_printer_8h.html#a6b2582a3064afaacce9867ac9ca77c33">PRINTER_FLAG1_HOMED</a>;
<a name="l00307"></a>00307     }
<a name="l00308"></a><a class="code" href="class_printer.html#a488e77b84472a2a0d524ce11a92ed40e">00308</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a488e77b84472a2a0d524ce11a92ed40e">setHomed</a>(uint8_t b)
<a name="l00309"></a>00309     {
<a name="l00310"></a>00310         <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> = (b ? <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> | <a class="code" href="_printer_8h.html#a6b2582a3064afaacce9867ac9ca77c33">PRINTER_FLAG1_HOMED</a> : <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> &amp; ~<a class="code" href="_printer_8h.html#a6b2582a3064afaacce9867ac9ca77c33">PRINTER_FLAG1_HOMED</a>);
<a name="l00311"></a>00311     }
<a name="l00312"></a><a class="code" href="class_printer.html#a37a3ae1ccf418fc67ac82f849fe3a6f7">00312</a>     <span class="keyword">static</span> <span class="keyword">inline</span> uint8_t <a class="code" href="class_printer.html#a37a3ae1ccf418fc67ac82f849fe3a6f7">isAutomount</a>()
<a name="l00313"></a>00313     {
<a name="l00314"></a>00314         <span class="keywordflow">return</span> <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> &amp; <a class="code" href="_printer_8h.html#a5a1b892d6d55ecbe4f5c7b76e4934dc9">PRINTER_FLAG1_AUTOMOUNT</a>;
<a name="l00315"></a>00315     }
<a name="l00316"></a><a class="code" href="class_printer.html#ab87bf750fd32a30a43d35c847c4c5d82">00316</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#ab87bf750fd32a30a43d35c847c4c5d82">setAutomount</a>(uint8_t b)
<a name="l00317"></a>00317     {
<a name="l00318"></a>00318         <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> = (b ? <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> | <a class="code" href="_printer_8h.html#a5a1b892d6d55ecbe4f5c7b76e4934dc9">PRINTER_FLAG1_AUTOMOUNT</a> : <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> &amp; ~<a class="code" href="_printer_8h.html#a5a1b892d6d55ecbe4f5c7b76e4934dc9">PRINTER_FLAG1_AUTOMOUNT</a>);
<a name="l00319"></a>00319     }
<a name="l00320"></a><a class="code" href="class_printer.html#a7a0efaf020854e1559812894e7f8c5d3">00320</a>     <span class="keyword">static</span> <span class="keyword">inline</span> uint8_t <a class="code" href="class_printer.html#a7a0efaf020854e1559812894e7f8c5d3">isAnimation</a>()
<a name="l00321"></a>00321     {
<a name="l00322"></a>00322         <span class="keywordflow">return</span> <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> &amp; <a class="code" href="_printer_8h.html#a5214ca5012b4aa37257eec722867d009">PRINTER_FLAG1_ANIMATION</a>;
<a name="l00323"></a>00323     }
<a name="l00324"></a><a class="code" href="class_printer.html#ad4bebf04c13c4ed9509c3a9b342c11be">00324</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#ad4bebf04c13c4ed9509c3a9b342c11be">setAnimation</a>(uint8_t b)
<a name="l00325"></a>00325     {
<a name="l00326"></a>00326         <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> = (b ? <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> | <a class="code" href="_printer_8h.html#a5214ca5012b4aa37257eec722867d009">PRINTER_FLAG1_ANIMATION</a> : <a class="code" href="class_printer.html#a8e16912ed3413712d1de8b673694f541">flag1</a> &amp; ~<a class="code" href="_printer_8h.html#a5214ca5012b4aa37257eec722867d009">PRINTER_FLAG1_ANIMATION</a>);
<a name="l00327"></a>00327     }
<a name="l00328"></a><a class="code" href="class_printer.html#a74df699bc31790f244a0061eba0f7968">00328</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a74df699bc31790f244a0061eba0f7968">toggleAnimation</a>() {
<a name="l00329"></a>00329         <a class="code" href="class_printer.html#ad4bebf04c13c4ed9509c3a9b342c11be">setAnimation</a>(!<a class="code" href="class_printer.html#a7a0efaf020854e1559812894e7f8c5d3">isAnimation</a>());
<a name="l00330"></a>00330     }
<a name="l00331"></a><a class="code" href="class_printer.html#a15ed4148e807570ba6aa74f5731c033e">00331</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a15ed4148e807570ba6aa74f5731c033e">convertToMM</a>(<span class="keywordtype">float</span> x)
<a name="l00332"></a>00332     {
<a name="l00333"></a>00333         <span class="keywordflow">return</span> (<a class="code" href="class_printer.html#a8bcdf21c7e047a91e714b6557ce9f524" title="0 = Units are mm, 1 = units are inches.">unitIsInches</a> ? x*25.4 : x);
<a name="l00334"></a>00334     }
<a name="l00335"></a><a class="code" href="class_printer.html#ae89c73fef56e4aa977ea25bc0897f3c1">00335</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#ae89c73fef56e4aa977ea25bc0897f3c1">isXMinEndstopHit</a>()
<a name="l00336"></a>00336     {
<a name="l00337"></a>00337 <span class="preprocessor">#if X_MIN_PIN&gt;-1 &amp;&amp; MIN_HARDWARE_ENDSTOP_X</span>
<a name="l00338"></a>00338 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <a class="code" href="fastio_8h.html#a9716cca366b99de7c0d101eeab24c967" title="Read a pin wrapper.">READ</a>(<a class="code" href="pins_8h.html#a006b99a82923fd30945f0db1c49e64e0">X_MIN_PIN</a>) != <a class="code" href="_configuration_8h.html#a36361f907337c0106876c3b3d0c0a775">ENDSTOP_X_MIN_INVERTING</a>;
<a name="l00339"></a>00339 <span class="preprocessor">#else</span>
<a name="l00340"></a>00340 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00341"></a>00341 <span class="preprocessor">#endif</span>
<a name="l00342"></a>00342 <span class="preprocessor"></span>    }
<a name="l00343"></a><a class="code" href="class_printer.html#a38710b6865be3ab1f3337a7ad5a8e731">00343</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a38710b6865be3ab1f3337a7ad5a8e731">isYMinEndstopHit</a>()
<a name="l00344"></a>00344     {
<a name="l00345"></a>00345 <span class="preprocessor">#if Y_MIN_PIN&gt;-1 &amp;&amp; MIN_HARDWARE_ENDSTOP_Y</span>
<a name="l00346"></a>00346 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <a class="code" href="fastio_8h.html#a9716cca366b99de7c0d101eeab24c967" title="Read a pin wrapper.">READ</a>(<a class="code" href="pins_8h.html#a06454690d367cc0bff85acd07e066c96">Y_MIN_PIN</a>) != <a class="code" href="_configuration_8h.html#ae8a42c460d07a2ebfc7d468f8da71087">ENDSTOP_Y_MIN_INVERTING</a>;
<a name="l00347"></a>00347 <span class="preprocessor">#else</span>
<a name="l00348"></a>00348 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00349"></a>00349 <span class="preprocessor">#endif</span>
<a name="l00350"></a>00350 <span class="preprocessor"></span>    }
<a name="l00351"></a><a class="code" href="class_printer.html#a0919e11a9fc92a38cdb12cec80a6e5de">00351</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a0919e11a9fc92a38cdb12cec80a6e5de">isZMinEndstopHit</a>()
<a name="l00352"></a>00352     {
<a name="l00353"></a>00353 <span class="preprocessor">#if Z_MIN_PIN&gt;-1 &amp;&amp; MIN_HARDWARE_ENDSTOP_Z</span>
<a name="l00354"></a>00354 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <a class="code" href="fastio_8h.html#a9716cca366b99de7c0d101eeab24c967" title="Read a pin wrapper.">READ</a>(<a class="code" href="pins_8h.html#aa52f884f931f3bf657ce8716e850cd47">Z_MIN_PIN</a>) != <a class="code" href="_configuration_8h.html#a802ae8540a5ae109a395643485566211">ENDSTOP_Z_MIN_INVERTING</a>;
<a name="l00355"></a>00355 <span class="preprocessor">#else</span>
<a name="l00356"></a>00356 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00357"></a>00357 <span class="preprocessor">#endif</span>
<a name="l00358"></a>00358 <span class="preprocessor"></span>    }
<a name="l00359"></a><a class="code" href="class_printer.html#a734216941d078fe2768d01a1b2d9bc96">00359</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a734216941d078fe2768d01a1b2d9bc96">isXMaxEndstopHit</a>()
<a name="l00360"></a>00360     {
<a name="l00361"></a>00361 <span class="preprocessor">#if X_MAX_PIN&gt;-1 &amp;&amp; MAX_HARDWARE_ENDSTOP_X</span>
<a name="l00362"></a>00362 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <a class="code" href="fastio_8h.html#a9716cca366b99de7c0d101eeab24c967" title="Read a pin wrapper.">READ</a>(<a class="code" href="pins_8h.html#abb84f87ed1b2f8dfe7c1fcbe7f58206a">X_MAX_PIN</a>) != <a class="code" href="_configuration_8h.html#a69329bd7889e14a8ee122db11a065c7f">ENDSTOP_X_MAX_INVERTING</a>;
<a name="l00363"></a>00363 <span class="preprocessor">#else</span>
<a name="l00364"></a>00364 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00365"></a>00365 <span class="preprocessor">#endif</span>
<a name="l00366"></a>00366 <span class="preprocessor"></span>    }
<a name="l00367"></a><a class="code" href="class_printer.html#ab51acb1c381041a571aeb61b48eff647">00367</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#ab51acb1c381041a571aeb61b48eff647">isYMaxEndstopHit</a>()
<a name="l00368"></a>00368     {
<a name="l00369"></a>00369 <span class="preprocessor">#if Y_MAX_PIN&gt;-1 &amp;&amp; MAX_HARDWARE_ENDSTOP_Y</span>
<a name="l00370"></a>00370 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <a class="code" href="fastio_8h.html#a9716cca366b99de7c0d101eeab24c967" title="Read a pin wrapper.">READ</a>(<a class="code" href="pins_8h.html#a5728068ae7496bdcc7d4d2d11ce507fc">Y_MAX_PIN</a>) != <a class="code" href="_configuration_8h.html#a3773b0e5b679517c578a5b2ef5268fb9">ENDSTOP_Y_MAX_INVERTING</a>;
<a name="l00371"></a>00371 <span class="preprocessor">#else</span>
<a name="l00372"></a>00372 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00373"></a>00373 <span class="preprocessor">#endif</span>
<a name="l00374"></a>00374 <span class="preprocessor"></span>    }
<a name="l00375"></a><a class="code" href="class_printer.html#a59371201b3638eff79eae1aed30b93b3">00375</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a59371201b3638eff79eae1aed30b93b3">isZMaxEndstopHit</a>()
<a name="l00376"></a>00376     {
<a name="l00377"></a>00377 <span class="preprocessor">#if Z_MAX_PIN&gt;-1 &amp;&amp; MAX_HARDWARE_ENDSTOP_Z</span>
<a name="l00378"></a>00378 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <a class="code" href="fastio_8h.html#a9716cca366b99de7c0d101eeab24c967" title="Read a pin wrapper.">READ</a>(<a class="code" href="pins_8h.html#afaabcffef50fb82d8ee90628b3d993f4">Z_MAX_PIN</a>) != <a class="code" href="_configuration_8h.html#aa142f86dfc0d1342ecdbe410c0d18d8c">ENDSTOP_Z_MAX_INVERTING</a>;
<a name="l00379"></a>00379 <span class="preprocessor">#else</span>
<a name="l00380"></a>00380 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00381"></a>00381 <span class="preprocessor">#endif</span>
<a name="l00382"></a>00382 <span class="preprocessor"></span>    }
<a name="l00383"></a><a class="code" href="class_printer.html#ae74dbe1397fad3fe0068f98227f70470">00383</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#ae74dbe1397fad3fe0068f98227f70470">areAllSteppersDisabled</a>()
<a name="l00384"></a>00384     {
<a name="l00385"></a>00385         <span class="keywordflow">return</span> <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; <a class="code" href="_printer_8h.html#aaf9db7920a06fd2aee7c0d998f57ad13">PRINTER_FLAG0_STEPPER_DISABLED</a>;
<a name="l00386"></a>00386     }
<a name="l00387"></a><a class="code" href="class_printer.html#a9a66d629644521943f3ad6a7ca3d9dc1">00387</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a9a66d629644521943f3ad6a7ca3d9dc1">setAllSteppersDiabled</a>()
<a name="l00388"></a>00388     {
<a name="l00389"></a>00389         <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> |= <a class="code" href="_printer_8h.html#aaf9db7920a06fd2aee7c0d998f57ad13">PRINTER_FLAG0_STEPPER_DISABLED</a>;
<a name="l00390"></a>00390     }
<a name="l00391"></a><a class="code" href="class_printer.html#a43bd23cb8aad3dc082c2bb09a597e526">00391</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a43bd23cb8aad3dc082c2bb09a597e526">unsetAllSteppersDisabled</a>()
<a name="l00392"></a>00392     {
<a name="l00393"></a>00393         <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp;= ~<a class="code" href="_printer_8h.html#aaf9db7920a06fd2aee7c0d998f57ad13">PRINTER_FLAG0_STEPPER_DISABLED</a>;
<a name="l00394"></a>00394     }
<a name="l00395"></a><a class="code" href="class_printer.html#a98bbd7a25131a0fa8cf7b7a24a9e4682">00395</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a98bbd7a25131a0fa8cf7b7a24a9e4682">isAnyTempsensorDefect</a>()
<a name="l00396"></a>00396     {
<a name="l00397"></a>00397         <span class="keywordflow">return</span> (<a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; <a class="code" href="_printer_8h.html#a997434dd4b57854ab5fd30e5087163a5">PRINTER_FLAG0_TEMPSENSOR_DEFECT</a>);
<a name="l00398"></a>00398     }
<a name="l00399"></a><a class="code" href="class_printer.html#af40c5c4c2d610cf155e926a6297307e4">00399</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#af40c5c4c2d610cf155e926a6297307e4">isManualMoveMode</a>()
<a name="l00400"></a>00400     {
<a name="l00401"></a>00401         <span class="keywordflow">return</span> (<a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; <a class="code" href="_printer_8h.html#aa7af93e40fdf088ff7407e50055e9d8e">PRINTER_FLAG0_MANUAL_MOVE_MODE</a>);
<a name="l00402"></a>00402     }
<a name="l00403"></a><a class="code" href="class_printer.html#a6be69aae7524b5b25aabb103debedf39">00403</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a6be69aae7524b5b25aabb103debedf39">setManualMoveMode</a>(<span class="keywordtype">bool</span> on)
<a name="l00404"></a>00404     {
<a name="l00405"></a>00405         <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> = (on ? <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> | <a class="code" href="_printer_8h.html#aa7af93e40fdf088ff7407e50055e9d8e">PRINTER_FLAG0_MANUAL_MOVE_MODE</a> : <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; ~<a class="code" href="_printer_8h.html#aa7af93e40fdf088ff7407e50055e9d8e">PRINTER_FLAG0_MANUAL_MOVE_MODE</a>);
<a name="l00406"></a>00406     }
<a name="l00407"></a><a class="code" href="class_printer.html#a9a701bafc0fdbfe1209361ec00ec66ce">00407</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a9a701bafc0fdbfe1209361ec00ec66ce">isAutolevelActive</a>()
<a name="l00408"></a>00408     {
<a name="l00409"></a>00409         <span class="keywordflow">return</span> (<a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; <a class="code" href="_printer_8h.html#ac75eab0f38bb0d214192d7613f6ab9e9">PRINTER_FLAG0_AUTOLEVEL_ACTIVE</a>)!=0;
<a name="l00410"></a>00410     }
<a name="l00411"></a>00411     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#af7d20163d1406a62b09a8371f835ba06">setAutolevelActive</a>(<span class="keywordtype">bool</span> on);
<a name="l00412"></a><a class="code" href="class_printer.html#a737e3ad3004d5bbbdd055ac43e35c0b0">00412</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a737e3ad3004d5bbbdd055ac43e35c0b0">setZProbingActive</a>(<span class="keywordtype">bool</span> on)
<a name="l00413"></a>00413     {
<a name="l00414"></a>00414         <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> = (on ? <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> | <a class="code" href="_printer_8h.html#a427c84f7714ca570064e22a3d65a2317">PRINTER_FLAG0_ZPROBEING</a> : <a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; ~<a class="code" href="_printer_8h.html#a427c84f7714ca570064e22a3d65a2317">PRINTER_FLAG0_ZPROBEING</a>);
<a name="l00415"></a>00415     }
<a name="l00416"></a><a class="code" href="class_printer.html#a11aa8b6ec20b27e96df39008588f4c85">00416</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a11aa8b6ec20b27e96df39008588f4c85">isZProbingActive</a>()
<a name="l00417"></a>00417     {
<a name="l00418"></a>00418         <span class="keywordflow">return</span> (<a class="code" href="class_printer.html#a02e4eefe2dff9138e677b8713e210660">flag0</a> &amp; <a class="code" href="_printer_8h.html#a427c84f7714ca570064e22a3d65a2317">PRINTER_FLAG0_ZPROBEING</a>);
<a name="l00419"></a>00419     }
<a name="l00420"></a><a class="code" href="class_printer.html#a95d96e7390210e4d7579b15015f134fa">00420</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="class_printer.html#a95d96e7390210e4d7579b15015f134fa">isZProbeHit</a>()
<a name="l00421"></a>00421     {
<a name="l00422"></a>00422 <span class="preprocessor">#if FEATURE_Z_PROBE</span>
<a name="l00423"></a>00423 <span class="preprocessor"></span>        <span class="keywordflow">return</span> (<a class="code" href="_configuration_8h.html#a56930ee08e30adf2b4366812bd1334ae">Z_PROBE_ON_HIGH</a> ? <a class="code" href="fastio_8h.html#a9716cca366b99de7c0d101eeab24c967" title="Read a pin wrapper.">READ</a>(<a class="code" href="_configuration_8h.html#a0c7b058babb5f320295349b4b009a8ea">Z_PROBE_PIN</a>) : !<a class="code" href="fastio_8h.html#a9716cca366b99de7c0d101eeab24c967" title="Read a pin wrapper.">READ</a>(<a class="code" href="_configuration_8h.html#a0c7b058babb5f320295349b4b009a8ea">Z_PROBE_PIN</a>));
<a name="l00424"></a>00424 <span class="preprocessor">#else</span>
<a name="l00425"></a>00425 <span class="preprocessor"></span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00426"></a>00426 <span class="preprocessor">#endif</span>
<a name="l00427"></a>00427 <span class="preprocessor"></span>    }
<a name="l00428"></a><a class="code" href="class_printer.html#a011c9aea14b9ea309c2a7240cbdc1008">00428</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a011c9aea14b9ea309c2a7240cbdc1008">executeXYGantrySteps</a>()
<a name="l00429"></a>00429     {
<a name="l00430"></a>00430 <span class="preprocessor">#if defined(XY_GANTRY)</span>
<a name="l00431"></a>00431 <span class="preprocessor"></span>        <span class="keywordflow">if</span>(motorX &lt;= -2)
<a name="l00432"></a>00432         {
<a name="l00433"></a>00433             <a class="code" href="_repetier_8h.html#a3c648c7bfb447c81831559d893ccc8b7">ANALYZER_ON</a>(<a class="code" href="_repetier_8h.html#af2973fcf8425b4a4c4752a52c6713c8f">ANALYZER_CH2</a>);
<a name="l00434"></a>00434             <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a3018c6ebc4818a40ca658b5bbf2d044f">X_STEP_PIN</a>,HIGH);
<a name="l00435"></a>00435 <span class="preprocessor">#if FEATURE_TWO_XSTEPPER</span>
<a name="l00436"></a>00436 <span class="preprocessor"></span>            <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a3c065952d4985697e1b1095e8236a0b9">X2_STEP_PIN</a>,HIGH);
<a name="l00437"></a>00437 <span class="preprocessor">#endif</span>
<a name="l00438"></a>00438 <span class="preprocessor"></span>            motorX += 2;
<a name="l00439"></a>00439         }
<a name="l00440"></a>00440         <span class="keywordflow">else</span> <span class="keywordflow">if</span>(motorX &gt;= 2)
<a name="l00441"></a>00441         {
<a name="l00442"></a>00442             <a class="code" href="_repetier_8h.html#a3c648c7bfb447c81831559d893ccc8b7">ANALYZER_ON</a>(<a class="code" href="_repetier_8h.html#af2973fcf8425b4a4c4752a52c6713c8f">ANALYZER_CH2</a>);
<a name="l00443"></a>00443             <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a3018c6ebc4818a40ca658b5bbf2d044f">X_STEP_PIN</a>,HIGH);
<a name="l00444"></a>00444 <span class="preprocessor">#if FEATURE_TWO_XSTEPPER</span>
<a name="l00445"></a>00445 <span class="preprocessor"></span>            <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a3c065952d4985697e1b1095e8236a0b9">X2_STEP_PIN</a>,HIGH);
<a name="l00446"></a>00446 <span class="preprocessor">#endif</span>
<a name="l00447"></a>00447 <span class="preprocessor"></span>            motorX -= 2;
<a name="l00448"></a>00448         }
<a name="l00449"></a>00449         <span class="keywordflow">if</span>(motorY &lt;= -2)
<a name="l00450"></a>00450         {
<a name="l00451"></a>00451             <a class="code" href="_repetier_8h.html#a3c648c7bfb447c81831559d893ccc8b7">ANALYZER_ON</a>(<a class="code" href="_repetier_8h.html#a82feee50d46677c33675d367b1a85af2">ANALYZER_CH3</a>);
<a name="l00452"></a>00452             <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a9313863a817f571f7a89deeaf77662fb">Y_STEP_PIN</a>,HIGH);
<a name="l00453"></a>00453 <span class="preprocessor">#if FEATURE_TWO_YSTEPPER</span>
<a name="l00454"></a>00454 <span class="preprocessor"></span>            <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#aa0057d47f91277e928db606389336d78">Y2_STEP_PIN</a>,HIGH);
<a name="l00455"></a>00455 <span class="preprocessor">#endif</span>
<a name="l00456"></a>00456 <span class="preprocessor"></span>            motorY += 2;
<a name="l00457"></a>00457         }
<a name="l00458"></a>00458         <span class="keywordflow">else</span> <span class="keywordflow">if</span>(motorY &gt;= 2)
<a name="l00459"></a>00459         {
<a name="l00460"></a>00460             <a class="code" href="_repetier_8h.html#a3c648c7bfb447c81831559d893ccc8b7">ANALYZER_ON</a>(<a class="code" href="_repetier_8h.html#a82feee50d46677c33675d367b1a85af2">ANALYZER_CH3</a>);
<a name="l00461"></a>00461             <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a9313863a817f571f7a89deeaf77662fb">Y_STEP_PIN</a>,HIGH);
<a name="l00462"></a>00462 <span class="preprocessor">#if FEATURE_TWO_YSTEPPER</span>
<a name="l00463"></a>00463 <span class="preprocessor"></span>            <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#aa0057d47f91277e928db606389336d78">Y2_STEP_PIN</a>,HIGH);
<a name="l00464"></a>00464 <span class="preprocessor">#endif</span>
<a name="l00465"></a>00465 <span class="preprocessor"></span>            motorY -= 2;
<a name="l00466"></a>00466         }
<a name="l00467"></a>00467 <span class="preprocessor">#endif</span>
<a name="l00468"></a>00468 <span class="preprocessor"></span>    }
<a name="l00469"></a><a class="code" href="class_printer.html#a5239399bb0e0cd5005677cb0bfc46a76">00469</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a5239399bb0e0cd5005677cb0bfc46a76">endXYZSteps</a>()
<a name="l00470"></a>00470     {
<a name="l00471"></a>00471         <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a3018c6ebc4818a40ca658b5bbf2d044f">X_STEP_PIN</a>,LOW);
<a name="l00472"></a>00472         <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a9313863a817f571f7a89deeaf77662fb">Y_STEP_PIN</a>,LOW);
<a name="l00473"></a>00473         <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="pins_8h.html#a07eb0240238e8582d5a00fb67179d325">Z_STEP_PIN</a>,LOW);
<a name="l00474"></a>00474 <span class="preprocessor">#if FEATURE_TWO_XSTEPPER</span>
<a name="l00475"></a>00475 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a3c065952d4985697e1b1095e8236a0b9">X2_STEP_PIN</a>,LOW);
<a name="l00476"></a>00476 <span class="preprocessor">#endif</span>
<a name="l00477"></a>00477 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_TWO_YSTEPPER</span>
<a name="l00478"></a>00478 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#aa0057d47f91277e928db606389336d78">Y2_STEP_PIN</a>,LOW);
<a name="l00479"></a>00479 <span class="preprocessor">#endif</span>
<a name="l00480"></a>00480 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_TWO_ZSTEPPER</span>
<a name="l00481"></a>00481 <span class="preprocessor"></span>        <a class="code" href="fastio_8h.html#a3d38c0667426652d3fa2eb62f23e1591" title="Write to a pin wrapper.">WRITE</a>(<a class="code" href="_configuration_8h.html#a74542a04437600f9bf1ac6f3dd5e8c0d">Z2_STEP_PIN</a>,LOW);
<a name="l00482"></a>00482 <span class="preprocessor">#endif</span>
<a name="l00483"></a>00483 <span class="preprocessor"></span>        <a class="code" href="_repetier_8h.html#a3ce49d11930e4fbd232c0f8ad2e036b2">ANALYZER_OFF</a>(<a class="code" href="_repetier_8h.html#aac2c3585d83addff66e2015e741d0c99">ANALYZER_CH1</a>);
<a name="l00484"></a>00484         <a class="code" href="_repetier_8h.html#a3ce49d11930e4fbd232c0f8ad2e036b2">ANALYZER_OFF</a>(<a class="code" href="_repetier_8h.html#af2973fcf8425b4a4c4752a52c6713c8f">ANALYZER_CH2</a>);
<a name="l00485"></a>00485         <a class="code" href="_repetier_8h.html#a3ce49d11930e4fbd232c0f8ad2e036b2">ANALYZER_OFF</a>(<a class="code" href="_repetier_8h.html#a82feee50d46677c33675d367b1a85af2">ANALYZER_CH3</a>);
<a name="l00486"></a>00486         <a class="code" href="_repetier_8h.html#a3ce49d11930e4fbd232c0f8ad2e036b2">ANALYZER_OFF</a>(<a class="code" href="_repetier_8h.html#ad0a2eedb5774ac5a46b3c4275126b815">ANALYZER_CH6</a>);
<a name="l00487"></a>00487         <a class="code" href="_repetier_8h.html#a3ce49d11930e4fbd232c0f8ad2e036b2">ANALYZER_OFF</a>(<a class="code" href="_repetier_8h.html#a62ce8e11506218f41528a9059d4ce83a">ANALYZER_CH7</a>);
<a name="l00488"></a>00488     }
<a name="l00489"></a><a class="code" href="class_printer.html#a0ade6db5659cacc97654e580af5a7383">00489</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_printer.html#a0ade6db5659cacc97654e580af5a7383">updateStepsPerTimerCall</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> vbase)
<a name="l00490"></a>00490     {
<a name="l00491"></a>00491         <span class="keywordflow">if</span>(vbase&gt;<a class="code" href="_configuration_8h.html#a0571dfea8f7cc9fe22a0a2f21aee53bf">STEP_DOUBLER_FREQUENCY</a>)
<a name="l00492"></a>00492         {
<a name="l00493"></a>00493 <span class="preprocessor">#if ALLOW_QUADSTEPPING</span>
<a name="l00494"></a>00494 <span class="preprocessor"></span>            <span class="keywordflow">if</span>(vbase&gt;<a class="code" href="_configuration_8h.html#a0571dfea8f7cc9fe22a0a2f21aee53bf">STEP_DOUBLER_FREQUENCY</a>*2)
<a name="l00495"></a>00495             {
<a name="l00496"></a>00496                 <a class="code" href="class_printer.html#a3f224449d326a0b4a4d844ad9b3e5f59">Printer::stepsPerTimerCall</a> = 4;
<a name="l00497"></a>00497                 <span class="keywordflow">return</span> vbase&gt;&gt;2;
<a name="l00498"></a>00498             }
<a name="l00499"></a>00499             <span class="keywordflow">else</span>
<a name="l00500"></a>00500             {
<a name="l00501"></a>00501                 <a class="code" href="class_printer.html#a3f224449d326a0b4a4d844ad9b3e5f59">Printer::stepsPerTimerCall</a> = 2;
<a name="l00502"></a>00502                 <span class="keywordflow">return</span> vbase&gt;&gt;1;
<a name="l00503"></a>00503             }
<a name="l00504"></a>00504 <span class="preprocessor">#else</span>
<a name="l00505"></a>00505 <span class="preprocessor"></span>            <a class="code" href="class_printer.html#a3f224449d326a0b4a4d844ad9b3e5f59">Printer::stepsPerTimerCall</a> = 2;
<a name="l00506"></a>00506             <span class="keywordflow">return</span> vbase&gt;&gt;1;
<a name="l00507"></a>00507 <span class="preprocessor">#endif</span>
<a name="l00508"></a>00508 <span class="preprocessor"></span>        }
<a name="l00509"></a>00509         <span class="keywordflow">else</span>
<a name="l00510"></a>00510         {
<a name="l00511"></a>00511             <a class="code" href="class_printer.html#a3f224449d326a0b4a4d844ad9b3e5f59">Printer::stepsPerTimerCall</a> = 1;
<a name="l00512"></a>00512         }
<a name="l00513"></a>00513         <span class="keywordflow">return</span> vbase;
<a name="l00514"></a>00514     }
<a name="l00515"></a><a class="code" href="class_printer.html#aa90ceb8f33225816ae4c71bb77f765dd">00515</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#aa90ceb8f33225816ae4c71bb77f765dd">disableAllowedStepper</a>()
<a name="l00516"></a>00516     {
<a name="l00517"></a>00517 <span class="preprocessor">#ifdef XY_GANTRY</span>
<a name="l00518"></a>00518 <span class="preprocessor"></span>        <span class="keywordflow">if</span>(<a class="code" href="_configuration_8h.html#a9f7183dc5b8aa69d693ee84b906f2641">DISABLE_X</a> &amp;&amp; <a class="code" href="_configuration_8h.html#a80a96c3a651dda99af25b7dc3f2d2f17">DISABLE_Y</a>)
<a name="l00519"></a>00519         {
<a name="l00520"></a>00520             <a class="code" href="class_printer.html#a0c894b2943ab264a0fad5fe79ac3d4cc" title="Disable stepper motor for x direction.">disableXStepper</a>();
<a name="l00521"></a>00521             <a class="code" href="class_printer.html#a7e25160c0740cb337c18c6f78309f122" title="Disable stepper motor for y direction.">disableYStepper</a>();
<a name="l00522"></a>00522         }
<a name="l00523"></a>00523 <span class="preprocessor">#else</span>
<a name="l00524"></a>00524 <span class="preprocessor"></span>        <span class="keywordflow">if</span>(<a class="code" href="_configuration_8h.html#a9f7183dc5b8aa69d693ee84b906f2641">DISABLE_X</a>) <a class="code" href="class_printer.html#a0c894b2943ab264a0fad5fe79ac3d4cc" title="Disable stepper motor for x direction.">disableXStepper</a>();
<a name="l00525"></a>00525         <span class="keywordflow">if</span>(<a class="code" href="_configuration_8h.html#a80a96c3a651dda99af25b7dc3f2d2f17">DISABLE_Y</a>) <a class="code" href="class_printer.html#a7e25160c0740cb337c18c6f78309f122" title="Disable stepper motor for y direction.">disableYStepper</a>();
<a name="l00526"></a>00526 <span class="preprocessor">#endif</span>
<a name="l00527"></a>00527 <span class="preprocessor"></span>        <span class="keywordflow">if</span>(<a class="code" href="_configuration_8h.html#a9d01b4ec87ea3a211d83ab75d6b4ec9e">DISABLE_Z</a>) <a class="code" href="class_printer.html#aafcdb7785ca3599cdc69d70ea69fb51c" title="Disable stepper motor for z direction.">disableZStepper</a>();
<a name="l00528"></a>00528     }
<a name="l00529"></a><a class="code" href="class_printer.html#a1c53bc3c0c2635406467c0788a700ee2">00529</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a1c53bc3c0c2635406467c0788a700ee2">realXPosition</a>()
<a name="l00530"></a>00530     {
<a name="l00531"></a>00531         <span class="keywordflow">return</span> <a class="code" href="class_printer.html#a0fb674215066a777158e952541718871">currentPosition</a>[0];
<a name="l00532"></a>00532     }
<a name="l00533"></a>00533 
<a name="l00534"></a><a class="code" href="class_printer.html#a154fefdfc57efc272eb2851a5a480734">00534</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#a154fefdfc57efc272eb2851a5a480734">realYPosition</a>()
<a name="l00535"></a>00535     {
<a name="l00536"></a>00536         <span class="keywordflow">return</span> <a class="code" href="class_printer.html#a0fb674215066a777158e952541718871">currentPosition</a>[1];
<a name="l00537"></a>00537     }
<a name="l00538"></a>00538 
<a name="l00539"></a><a class="code" href="class_printer.html#aeae9423b60fe57acbeb9672444ef2e7f">00539</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="class_printer.html#aeae9423b60fe57acbeb9672444ef2e7f">realZPosition</a>()
<a name="l00540"></a>00540     {
<a name="l00541"></a>00541         <span class="keywordflow">return</span> <a class="code" href="class_printer.html#a0fb674215066a777158e952541718871">currentPosition</a>[2];
<a name="l00542"></a>00542     }
<a name="l00543"></a><a class="code" href="class_printer.html#ac08e77146c6c3e2964d0239f263725d8">00543</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#ac08e77146c6c3e2964d0239f263725d8">realPosition</a>(<span class="keywordtype">float</span> &amp;xp,<span class="keywordtype">float</span> &amp;yp,<span class="keywordtype">float</span> &amp;zp)
<a name="l00544"></a>00544     {
<a name="l00545"></a>00545         xp = <a class="code" href="class_printer.html#a0fb674215066a777158e952541718871">currentPosition</a>[<a class="code" href="_repetier_8h.html#a096f6d223bb5d11bebd9ce7535508fa2">X_AXIS</a>];
<a name="l00546"></a>00546         yp = <a class="code" href="class_printer.html#a0fb674215066a777158e952541718871">currentPosition</a>[<a class="code" href="_repetier_8h.html#ab9e30cc0a88c208dc662906171bb8265">Y_AXIS</a>];
<a name="l00547"></a>00547         zp = <a class="code" href="class_printer.html#a0fb674215066a777158e952541718871">currentPosition</a>[<a class="code" href="_repetier_8h.html#a702b4b323c595211ec77a5995d9ee155">Z_AXIS</a>];
<a name="l00548"></a>00548     }
<a name="l00549"></a><a class="code" href="class_printer.html#aee4ba71bbe2163c32e9046cb35441a3e">00549</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#aee4ba71bbe2163c32e9046cb35441a3e">insertStepperHighDelay</a>() {
<a name="l00550"></a>00550 <span class="preprocessor">#if STEPPER_HIGH_DELAY&gt;0</span>
<a name="l00551"></a>00551 <span class="preprocessor"></span>        <a class="code" href="class_h_a_l.html#a9c21525c92e4753a86201165ba0f9550">HAL::delayMicroseconds</a>(<a class="code" href="_configuration_8h.html#aaa88e47f41a7a1924d9c0fc0aeff0a49">STEPPER_HIGH_DELAY</a>);
<a name="l00552"></a>00552 <span class="preprocessor">#endif</span>
<a name="l00553"></a>00553 <span class="preprocessor"></span>    }
<a name="l00554"></a>00554     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a1183b37891775096cbdb77c336e53fc4">constrainDestinationCoords</a>();
<a name="l00555"></a>00555     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a09da4440aa1a120a2aeeb120332a0885">updateDerivedParameter</a>();
<a name="l00556"></a>00556     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a0947ddcdfe88f9cbdc2c789cc583f30b">updateCurrentPosition</a>();
<a name="l00557"></a>00557     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a3fda468fcc934c0d1b0e309857c335e8" title="Stop heater and stepper motors. Disable power,if possible.">kill</a>(uint8_t only_steppers);
<a name="l00558"></a>00558     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#ad379cfbfb37f5a6da218f8ef28154bf0">updateAdvanceFlags</a>();
<a name="l00559"></a>00559     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a4fc01d736fe50cf5b977f755b675f11d">setup</a>();
<a name="l00560"></a>00560     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#adadead89fb44fe10f915a1e45221b4bd">defaultLoopActions</a>();
<a name="l00561"></a>00561     <span class="keyword">static</span> uint8_t <a class="code" href="class_printer.html#ac025997be620133a03b7735f567bb822" title="Sets the destination coordinates to values stored in com.">setDestinationStepsFromGCode</a>(<a class="code" href="class_g_code.html">GCode</a> *com);
<a name="l00562"></a>00562     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#af0d4e363b31c1b762cda5a87aae4e240">moveTo</a>(<span class="keywordtype">float</span> x,<span class="keywordtype">float</span> y,<span class="keywordtype">float</span> z,<span class="keywordtype">float</span> e,<span class="keywordtype">float</span> f);
<a name="l00563"></a>00563     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a4d79d349450fd261e8997c9a6b1d940a">moveToReal</a>(<span class="keywordtype">float</span> x,<span class="keywordtype">float</span> y,<span class="keywordtype">float</span> z,<span class="keywordtype">float</span> e,<span class="keywordtype">float</span> f);
<a name="l00564"></a>00564     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#ad27769a2f4d14b88e0a794ca6a26d851">homeAxis</a>(<span class="keywordtype">bool</span> xaxis,<span class="keywordtype">bool</span> yaxis,<span class="keywordtype">bool</span> zaxis); 
<a name="l00565"></a>00565     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#ad538f1d63c761bc212a90f02b7720b17" title="Home axis.">setOrigin</a>(<span class="keywordtype">float</span> xOff,<span class="keywordtype">float</span> yOff,<span class="keywordtype">float</span> zOff);
<a name="l00566"></a><a class="code" href="class_printer.html#a2a3acb33630ecee7f78698ece2194e16">00566</a>     <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="class_printer.html#a2a3acb33630ecee7f78698ece2194e16">getFanSpeed</a>() {
<a name="l00567"></a>00567         <span class="keywordflow">return</span> (<span class="keywordtype">int</span>)<a class="code" href="motion_8cpp.html#a446bd741ad7766bcb66b61d127448157">pwm_pos</a>[<a class="code" href="_configuration_8h.html#a8cb1f491dd9270f6668ba7a5b0454799">NUM_EXTRUDER</a>+2];
<a name="l00568"></a>00568     }
<a name="l00569"></a>00569 <span class="preprocessor">#if DRIVE_SYSTEM==3</span>
<a name="l00570"></a>00570 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> setDeltaPositions(<span class="keywordtype">long</span> xaxis, <span class="keywordtype">long</span> yaxis, <span class="keywordtype">long</span> zaxis)
<a name="l00571"></a>00571     {
<a name="l00572"></a>00572         currentDeltaPositionSteps[0] = xaxis;
<a name="l00573"></a>00573         currentDeltaPositionSteps[1] = yaxis;
<a name="l00574"></a>00574         currentDeltaPositionSteps[2] = zaxis;
<a name="l00575"></a>00575     }
<a name="l00576"></a>00576     <span class="keyword">static</span> <span class="keywordtype">void</span> deltaMoveToTopEndstops(<span class="keywordtype">float</span> <a class="code" href="class_printer.html#a9f39a8d208c6033453098cb81815969c" title="Last requested feedrate.">feedrate</a>);
<a name="l00577"></a>00577 <span class="preprocessor">#endif</span>
<a name="l00578"></a>00578 <span class="preprocessor"></span><span class="preprocessor">#if MAX_HARDWARE_ENDSTOP_Z</span>
<a name="l00579"></a>00579 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">float</span> runZMaxProbe();
<a name="l00580"></a>00580 <span class="preprocessor">#endif</span>
<a name="l00581"></a>00581 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_Z_PROBE</span>
<a name="l00582"></a>00582 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">float</span> runZProbe(<span class="keywordtype">bool</span> first,<span class="keywordtype">bool</span> last);
<a name="l00583"></a>00583     <span class="keyword">static</span> <span class="keywordtype">void</span> waitForZProbeStart();
<a name="l00584"></a>00584 <span class="preprocessor">#if FEATURE_AUTOLEVEL</span>
<a name="l00585"></a>00585 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">void</span> transformToPrinter(<span class="keywordtype">float</span> x,<span class="keywordtype">float</span> y,<span class="keywordtype">float</span> z,<span class="keywordtype">float</span> &amp;transX,<span class="keywordtype">float</span> &amp;transY,<span class="keywordtype">float</span> &amp;transZ);
<a name="l00586"></a>00586     <span class="keyword">static</span> <span class="keywordtype">void</span> transformFromPrinter(<span class="keywordtype">float</span> x,<span class="keywordtype">float</span> y,<span class="keywordtype">float</span> z,<span class="keywordtype">float</span> &amp;transX,<span class="keywordtype">float</span> &amp;transY,<span class="keywordtype">float</span> &amp;transZ);
<a name="l00587"></a>00587     <span class="keyword">static</span> <span class="keywordtype">void</span> resetTransformationMatrix(<span class="keywordtype">bool</span> silent);
<a name="l00588"></a>00588     <span class="keyword">static</span> <span class="keywordtype">void</span> buildTransformationMatrix(<span class="keywordtype">float</span> h1,<span class="keywordtype">float</span> h2,<span class="keywordtype">float</span> h3);
<a name="l00589"></a>00589 <span class="preprocessor">#endif</span>
<a name="l00590"></a>00590 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00591"></a>00591 <span class="preprocessor"></span><span class="preprocessor">#if FEATURE_MEMORY_POSITION</span>
<a name="l00592"></a>00592 <span class="preprocessor"></span>    <span class="keyword">static</span> <span class="keywordtype">void</span> MemoryPosition();
<a name="l00593"></a>00593     <span class="keyword">static</span> <span class="keywordtype">void</span> GoToMemoryPosition(<span class="keywordtype">bool</span> x,<span class="keywordtype">bool</span> y,<span class="keywordtype">bool</span> z,<span class="keywordtype">bool</span> e,<span class="keywordtype">float</span> feed);
<a name="l00594"></a>00594 <span class="preprocessor">#endif</span>
<a name="l00595"></a>00595 <span class="preprocessor"></span><span class="keyword">private</span>:
<a name="l00596"></a>00596     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a7e0a2c9dcff9c19835abc06f5b12e994">homeXAxis</a>();
<a name="l00597"></a>00597     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a4f7ae2d363e37cdb627169dfa39c32ee">homeYAxis</a>();
<a name="l00598"></a>00598     <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="class_printer.html#a8da3edb0301e11193d174984a587a912">homeZAxis</a>();
<a name="l00599"></a>00599 };
<a name="l00600"></a>00600 
<a name="l00601"></a>00601 <span class="preprocessor">#endif // PRINTER_H_INCLUDED</span>
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